302 Rockwell Automation Publication 2198-UM004A-EN-P - October 2019
Chapter 11 Motion Control in PR Mode
Figure 131 - Position Command
Consecutive Speed Commands
When the PR executor receives two speed commands consecutively, as they are
not set with interrupt or overlap functions, the PR executor will issue the first
speed command to the motion command generator and the generator will start
the first part of speed control. After the first speed command completes, if no
delay time is set, the PR executor will issue the second speed command to the
generator to start the second part of speed control (see Figure 132
).
If the first speed command is set with a delay, the PR executor starts counting the
delay time right after the motor reaches the target speed. Then, it issues the
second speed command to the generator for the second part of speed control as
shown in Figure 132
.
PR#1
Position
DLY=[0] 0 ms
10000 PUU
ABS
200 rpm
PR#2
Position
DLY=[0] 0 ms
10000 PUU
ABS
500 rpm
PR
executor
(1 ms command cycle)
Motion
command
generator
Time
Speed
(1 ms command cycle)
PR#1
Position
DLY=[1] 100 ms
10000 PUU
ABS
200 rpm
PR#2
Position
DLY=[0] 0 ms
10000 PUU
ABS
500 rpm
PR
executor
Motion
command
generator
7LPH
6SHHG
100ms
(1 ms command cycle)
(1 ms command cycle)
Command with Delay
Command without Delay
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